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Add some error checking to the servo command.

This commit is contained in:
Dominic Clifton 2015-07-13 00:57:44 +01:00
parent 12ce6334fe
commit d23dc246d0
1 changed files with 20 additions and 2 deletions
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22
src/main/io/serial_cli.c
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@ -966,13 +966,31 @@ static void cliServo(char *cmdline)
}
}
enum {INDEX = 0, MIN, MAX, MIDDLE, ANGLE_AT_MIN, ANGLE_AT_MAX, RATE, FORWARD};
i = arguments[INDEX];
// Check we got the right number of args and the servo index is correct (don't validate the other values)
if (validArgumentCount != SERVO_ARGUMENT_COUNT || arguments[0] < 0 || arguments[0] >= MAX_SUPPORTED_SERVOS) {
if (validArgumentCount != SERVO_ARGUMENT_COUNT || i < 0 || i >= MAX_SUPPORTED_SERVOS) {
cliShowParseError();
return;
}
servo = &currentProfile->servoConf[arguments[0]];
servo = &currentProfile->servoConf[i];
if (
arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
arguments[MAX] < PWM_PULSE_MIN || arguments[MAX] > PWM_PULSE_MAX ||
arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
arguments[RATE] < 100 || arguments[RATE] > 100 ||
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT ||
arguments[ANGLE_AT_MIN] < 0 || arguments[ANGLE_AT_MIN] > 180 ||
arguments[ANGLE_AT_MAX] < 0 || arguments[ANGLE_AT_MAX] > 180
) {
cliShowParseError();
return;
}
servo->min = arguments[1];
servo->max = arguments[2];